/**
 * @file FanBlockPlanner.h
 * @author  
 * @brief 风机堵转规划
 * @version 1.0
 * @date 2021-03-31
 * 
 * @copyright Copyright (c) 2020
 * 
 */

#pragma once

namespace  behavior_controller
{
    class FanBlockPlanner
    {
        public:
        
        FanBlockPlanner(){};
        ~FanBlockPlanner(){};

        void run(double &linear_vel, double &angular_vel);
        double time_now=0;
        bool finished=true;
    };
    //static 
    extern FanBlockPlanner fan_block_planner;
}